Hi All,

I am a newbie to ROS, but i was able to create a map with hector slam using RPlidarA2M6 on ros kinetic, Issues: - Mapping was smooth till it get a certain point where the robot was moving with the lidar but movement on the map was static hence mapping just a single point.. (Though i was able to maneuver my way through this by staying at this point for a while before finally moving) How do i fix this? - I created a fake odometry using laserscanmatcher but the odometry was stuck at the same point where it was stuck while mapping. how do i fix this? _ amcl is totally wrong,

I need help with these issues, please see the various launch files below.. Thanks

Hector SLAM - launch file

<?xml version="1.0"?>

<launch>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_link"/>
  <arg name="odom_frame" default="base_link"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>

    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <!-- Debug parameters -->
    <!--
      <param name="output_timing" value="false"/>
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>
    -->
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />

</launch>

LaserScanmatcher Launch file: <

 <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">


    <param name="base_frame" value="base_link"/>
    <param name="fixed_frame" value="odom"/>
    <param name="use_alpha_beta" value="false"/>
    <param name="use_odom" value="true"/>
    <param name="use_imu" value="false"/>
    <param name="max_iterations" value="4"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_tf" value="true"/>

  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />
</launch>
/>

AMCL Launch file:

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.2" />
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="30"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0.2"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.8"/>
  <param name="odom_alpha4" value="0.2"/>
  <param name="laser_z_hit" value="0.5"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
</node>

<!--
<node pkg="tf" type="static_transform_publisher" name="map_to_odom_broadcaster" args="0 0 0 0 0 0 map odom 100" />-->
<node pkg="tf" type="static_transform_publisher" name="odom_to_base_footprint_broadcaster" args="0 0 0 0 0 0 odom base_link 100" />-->
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link_broadcaster" args="0 0 0.3 0 0 0 base_link laser 100" />-->
-->
</launch>

Update:

Please see the link to the videos and bag file: https://drive.google.com/open?id=1yC-J3Llcngz9Kr9cxp4lPuI2QkBQhMvE

For Video ROS_test7: I used the launch file for AMCL which i posted above Issues: It fails to localize as can be seen in the video, it is stuck at one point on the map.... What could be the issue?

For ROS_test2: To launch AMCL for this, i used:

rosrun amcl amcl usesimtime:=true _usemaptopic:=true scan:=/scan _odomframeid:=/odom _baseframeid:=/baselink globalframeid:=/map _tfbroadcast:=false

Issues: 1.) WHen i insert the robot at any position in the map, it fails to localize, except i choose the initial position of the robot on the map, and this defeats the purpose of AMCL 2.) If i put the video at the initial position of the map, it works alright till it gets to a certain point and it stops updating (This is seen in the video at time 2:01).. the robot was moving but the position wasn't been updated on the map. WHat could be the issue here?